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Erschienen in:
2017 | OriginalPaper | Buchkapitel
The workspace of industrial manipulator in case of fault of the drive
verfasst von : Krzysztof Jaroszewski
Erschienen in: Trends in Advanced Intelligent Control, Optimization and Automation
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In the paper very preliminary idea of fault tolerant industrial robot is presented. It is noticed that, the most natural way of fault tolerance - redundancy, is not appropriate in case of the robotics area. Using on the production line redundant robots (treated overall as the actuators) is unprofitable from economic point of view. Moreover, redundancy of the actuators (seeing as the parts of the robot) is mostly impossible from construction point of view. Hence, the solution of fault tolerance is offered in the way of adequate control system. In the first chapter problem statement is done and the general idea of solving it is presented. Following, idea of control system is briefly mentioned. In the next unit simple graphs presents the robot’s workspace in selected case of the fault. The wider idea of fault tolerance control in case of industrial manipulator is given in the summary.